Skip to main content Accessibility help
×
Home
Hostname: page-component-78dcdb465f-mrc2z Total loading time: 0.199 Render date: 2021-04-15T00:18:32.423Z Has data issue: true Feature Flags: { "shouldUseShareProductTool": true, "shouldUseHypothesis": true, "isUnsiloEnabled": true, "metricsAbstractViews": false, "figures": false, "newCiteModal": false, "newCitedByModal": true }

Article contents

Dynamic feedforward control of spatial cable-driven hyper-redundant manipulators for on-orbit servicing

Published online by Cambridge University Press:  29 August 2018

Zonggao Mu
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
Tianliang Liu
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
Wenfu Xu
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
Yunjiang Lou
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
Bin Liang
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 100084, China
Corresponding
E-mail address:

Summary

The hyper-redundant manipulators are suitable for working in the constrained on-orbit servicing environment due to the extreme flexibility. However, its modelling and control are very challenging due to the characteristics of non-linearity and strong coupling. In this paper, considering the multi-level mapping among the motors, cables, joints, and end-effector, a proportional derivative (PD) with dynamic feedforward compensation control system is designed. The corresponding control system is divided into five parts: controller, planner, actuator, manipulator, and sensor. The actual control torque consisting of the desired feedforward torque and the feedback torque is generated by the controller. In order to improve the tracking accuracy and maintain rapid response, the torque, which is calculated by the dynamics model of the traditional joint-driven manipulator, is regarded as the desired feedforward torque. The parameters of interest are the angle and velocity of the universal joint and motors. The planner plans and converts the desired parameters of the universal joint to corresponding motors. Combining with the feedback angles and velocities signals of the corresponding motors, the feedback torque can be calculated by the PD control module. Finally, typical cases of six universal joints (12DOFs) manipulators are simulated and experimented. The results demonstrate that the method is very efficient for controlling spatial cable-driven hyper-redundant manipulators.

Type
Articles
Copyright
Copyright © Cambridge University Press 2018 

Access options

Get access to the full version of this content by using one of the access options below.

References

1. Flores-Abad, A., Ma, O., Pham, K. and Ulrich, S., “A review of space robotics technologies for on-orbit servicing,” Prog. Aerosp. Sci. 68, 126 (2014).CrossRefGoogle Scholar
2. Huang, P., Cai, J., Meng, Z., Hu, Z. and Wang, D., “Novel method of monocular real-time feature point tracking for tethered space robots,” J. Aerosp. Eng. 27 (6), 4014039 (2013).CrossRefGoogle Scholar
3. Meng, Z. and Huang, P., “Universal dynamic model of the tethered space robot,” J. Aerosp. Eng. 29 (1), 4015026 (2016).CrossRefGoogle Scholar
4. Huang, P., Chen, L., Zhang, B., Chen, H., Meng, Z. and Liu, Z., “Autonomous rendezvous and docking with nonfull field of view for tethered space robot,” Int. J. Aerosp. Eng. 2017 (11), 111 (2017).Google Scholar
5. Montazeri, A., West, C., Monk, S. D. and Taylor, C. J., “Dynamic modelling and parameter estimation of a hydraulic robot manipulator using a multi-objective genetic algorithm,” Int. J. Control 90 (4), 661683 (2017).CrossRefGoogle Scholar
6. Nanos, K. and Papadopoulos, E. G., “On the dynamics and control of flexible joint space manipulators,” Control Eng. Pract. 45, 230243 (2015).CrossRefGoogle Scholar
7. Paraskevas, I. S. and Papadopoulos, E. G., “Parametric sensitivity and control of on-orbit manipulators during impacts using the centre of percussion concept,” Control. Eng. Pract. 47, 4859 (2016).CrossRefGoogle Scholar
8. Xu, W., Yan, L., Mu, Z. and Wang, Z., “Dual arm-angle parameterisation and its applications for analytical inverse kinematics of redundant manipulators,” Robotica 34, 26692688 (2016).CrossRefGoogle Scholar
9. Xu, W., Mu, Z., Liu, T. and Liang, B., “A modified modal method for solving the mission-oriented inverse kinematics of hyper-redundant space manipulators for on-orbit servicing,” Acta Astronaut. 139, 5466 (2017).CrossRefGoogle Scholar
10. Spanos, P. D., Berka, R. B. and Tratskas, P., “Multisegment large space robot: Concept and design,” J. Aerosp. Eng. 13 (4), 123132 (2000).CrossRefGoogle Scholar
11. Liu, J., Wang, Y., Li, B. and Ma, S., “Neural Network Based Kinematic Control of the Hyper-Redundant Snake-Like Manipulator,” Proceedings of International Symposium on Neural Networks: Advances in Neural Networks (Springer-Verlag, Berlin Heidelberg, 2007) pp. 767775.Google Scholar
12. Tang, Z. L., Ge, S. S., Tee, K. P. and He, W., “Adaptive neural control for an uncertain robotic manipulator with joint space constraints,” Int. J. Control 89 (7), 133 (2015).Google Scholar
13. Panwar, V., “Wavelet neural network-based H∞ trajectory tracking for robot manipulators using fast terminal sliding mode control,” Robotica 1, 116 (2016).Google Scholar
14. Jones, B. A. and Walker, I. D., “Practical kinematics for real-time implementation of continuum robots,” IEEE Trans. Robot. 22 (6), 10871099 (2006).CrossRefGoogle Scholar
15. Ivanescu, M., Bizdoaca, N., Florescu, M. and Popescu, N., “Frequency Criteria for the Grasping Control of a Hyper-redundant Robot,” IEEE International Conference on Robotics and Automation (2010) pp. 3981–3988.Google Scholar
16. Yi, H., Min, S. A. and Hong, D. W., “Adaptive Fuzzy-PI control of redundant humanoid arm using full-body balance,” J. Intell. Fuzzy Syst. 30 (1), 613621 (2015).CrossRefGoogle Scholar
17. Benzaoui, M., Chekireb, H., Tadjine, M. and Boulkroune, A., “Trajectory tracking with obstacle avoidance of redundant manipulator based on fuzzy inference systems,” Neurocomputing 196 (C), 2330 (2016).CrossRefGoogle Scholar
18. Braganza, D., Dawson, D. M., Walker, I. D. and Nath, N., “A neural network controller for continuum robots,” IEEE Trans. Robot. 23 (6), 12701277 (2007).CrossRefGoogle Scholar
19. Jasour, A. M. and Farrokhi, M., “Adaptive neuro-predictive control for redundant robot manipulators in presence of static and dynamic obstacles: A lyapunov-based approach,” Int. J. Adapt. Control 28 (3–5), 386411 (2014).CrossRefGoogle Scholar
20. Shang, H., Forbes, J. F. and Guay, M., “Feedback control of hyperbolic distributed parameter systems,” Chem. Eng. Sci. 60 (4), 969980 (2005).CrossRefGoogle Scholar
21. Maidi, A., Jean, P. and Corriou, , “Boundary control of nonlinear distributed parameter systems by input-output linearization,” IFAC Proc. Vol. 44 (1), 1091010915 (2011).Google Scholar
22. Camarillo, D. B., Milne, C. F., Carlson, C. R., Zinn, M. R. and Salisbury, J. K., “Mechanics modeling of tendon-driven continuum manipulators,” IEEE Trans. Robot. 24 (6), 12621273 (2008).CrossRefGoogle Scholar
23. Popescu, N., Popescu, D. and Ivanescu, M., “A spatial weight error control for a class of hyper-redundant robots,” IEEE Trans. Robot. 29 (4), 10431050 (2013).CrossRefGoogle Scholar
24. Kapadia, A. D., Walker, I. D., Dawson, D. M. and Tatlicioglu, E., “A Model-Based Sliding Mode Controller for Extensible Continuum Robots,” Proceedings of the WSEAS International Conference on Signal Processing, Robotics and Automation (2010) pp. 113–120.Google Scholar
25. Rucker, D. C., Rd, W. R., Chirikjian, G. S. and Cowan, N. J., “Equilibrium conformations of concentric-tube continuum robots,” Int. J. Robot. Res. 29 (10), 12631280 (2010).CrossRefGoogle ScholarPubMed
26. Mirosław, G., “Inverse-free control of a robotic manipulator in a task space,” Robot Auton. Syst. 62 (2), 131141 (2013).Google Scholar
27. Florescu, M., Nguyen, V. D. H. and Ivanescu, M., “Output track controller with gravitational compensation for a class of hyper-redundant robot arms,” Stud. Informat. Control 24 (3), 309316 (2015).Google Scholar
28. Mu, Z., Liu, T., Xu, W. and Liang, B., “A segmented geometry method of inverse kinematics resolving and configuration planning for spatial hyper-redundant manipulators,” IEEE Trans. Syst. Man Cybernetics Syst. PP (99), 111 (2018).Google Scholar

Full text views

Full text views reflects PDF downloads, PDFs sent to Google Drive, Dropbox and Kindle and HTML full text views.

Total number of HTML views: 0
Total number of PDF views: 213 *
View data table for this chart

* Views captured on Cambridge Core between 29th August 2018 - 15th April 2021. This data will be updated every 24 hours.

Send article to Kindle

To send this article to your Kindle, first ensure no-reply@cambridge.org is added to your Approved Personal Document E-mail List under your Personal Document Settings on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part of your Kindle email address below. Find out more about sending to your Kindle. Find out more about sending to your Kindle.

Note you can select to send to either the @free.kindle.com or @kindle.com variations. ‘@free.kindle.com’ emails are free but can only be sent to your device when it is connected to wi-fi. ‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.

Find out more about the Kindle Personal Document Service.

Dynamic feedforward control of spatial cable-driven hyper-redundant manipulators for on-orbit servicing
Available formats
×

Send article to Dropbox

To send this article to your Dropbox account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your <service> account. Find out more about sending content to Dropbox.

Dynamic feedforward control of spatial cable-driven hyper-redundant manipulators for on-orbit servicing
Available formats
×

Send article to Google Drive

To send this article to your Google Drive account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your <service> account. Find out more about sending content to Google Drive.

Dynamic feedforward control of spatial cable-driven hyper-redundant manipulators for on-orbit servicing
Available formats
×
×

Reply to: Submit a response


Your details


Conflicting interests

Do you have any conflicting interests? *